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Method and program for linking dynamics simulation and kinematic simulation

  • US 7,398,190 B2
  • Filed: 12/23/2003
  • Issued: 07/08/2008
  • Est. Priority Date: 12/26/2002
  • Status: Expired due to Fees
First Claim
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1. A computer readable storage medium storing a computer program configured to cause a computer to execute a method for simulating a mechanism, said method comprising:

  • reading data representing a plurality of variables of a continuous system equation of a hybrid model described in a hybrid model programming language having a class definition functionality based on an object-oriented approach;

    reading data of a three-dimensional mechanism model representing a geometric constraint relationship between a plurality of mechanism elements included in said mechanism;

    extracting, from the data representing the variables, a plurality of selective variables each of which enables to be associated with any one of the mechanism elements wherein the mechanism elements include a rotation angle or displacement of an actuator;

    extracting, from the data representing the mechanism elements, a plurality of selective mechanism elements each of which enables to be associated with any one of the variables;

    receiving a selection which is made by a user and is indicative of a combination of one of the plurality of selective variables and one of the plurality of selective mechanism elements, to generate a table that represents a correspondence between the variables and the mechanism elements based on the selection, wherein the one of the plurality of selective variables in the combination is selected by selecting a class of predefined hybrid model to which the selective variables belong, and selecting a member variable in the class;

    calculating a value of one of the variables of the continuous system equation by a first simulator that executes the hybrid simulation in which a behavior of the mechanism is simulated;

    identifying a mechanism element corresponding to a variable having the calculated value, referring to the table;

    transmitting, to a second simulator, information specifying the identified mechanism element and the calculated value of the variable; and

    executing a kinematic simulation by calculating a transformation matrix for each of said plurality of mechanism elements based on the data of the three-dimensional model.

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